CN103879535B - There is the machine fish of independent chain tail support and the method that snorkels thereof - Google Patents
There is the machine fish of independent chain tail support and the method that snorkels thereof Download PDFInfo
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- CN103879535B CN103879535B CN201410088557.5A CN201410088557A CN103879535B CN 103879535 B CN103879535 B CN 103879535B CN 201410088557 A CN201410088557 A CN 201410088557A CN 103879535 B CN103879535 B CN 103879535B
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- 241000251468 Actinopterygii Species 0.000 title claims abstract description 79
- 238000000034 method Methods 0.000 title claims abstract description 17
- 210000000006 pectoral fin Anatomy 0.000 claims abstract description 109
- 239000002775 capsule Substances 0.000 claims abstract description 31
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 9
- 239000000463 material Substances 0.000 claims description 14
- 238000004891 communication Methods 0.000 claims description 10
- 238000010146 3D printing Methods 0.000 claims description 3
- 239000004677 Nylon Substances 0.000 claims description 3
- 230000003042 antagnostic effect Effects 0.000 claims description 3
- 238000007667 floating Methods 0.000 claims description 3
- 229920001778 nylon Polymers 0.000 claims description 3
- 239000000203 mixture Substances 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 7
- 238000011160 research Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 4
- 239000002390 adhesive tape Substances 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 239000004033 plastic Substances 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 239000007963 capsule composition Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000003365 glass fiber Substances 0.000 description 1
- 239000004519 grease Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
- 235000001968 nicotinic acid Nutrition 0.000 description 1
- 230000009182 swimming Effects 0.000 description 1
- 210000002435 tendon Anatomy 0.000 description 1
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Abstract
The invention discloses and a kind of there is the machine fish of independent chain tail support and the method that snorkels thereof, the machine fish with independent chain tail support comprises head, intermediate support plate, afterbody, pectoral fin, tail fin, head comprises left head capsule, right head capsule, trapezoidal dividing plate, pectoral fin steering wheel bearing, pectoral fin steering wheel, plane double rocker mechanism, pectoral fin axle, pectoral fin axle strut member, battery, circuit card, afterbody comprises chain tail support, fish-skin, first joint, second joint, 3rd joint, first interlock dish, second interlock dish, steering wheel connecting element, tail fin presss from both sides, described tail fin comprises tail fin sheet, tail fin plug-in unit, pectoral fin comprises left pectoral fin sheet, right pectoral fin sheet.Machine fish good looking appearance of the present invention is exquisite, vivid, and it is travelling and can keep rational form, independent chain tail support compact conformation of the present invention when turning, easy to process, with low cost, can dismantle separately, and the form that can well keep machine fish to move about under water, practical.
Description
Technical field
The present invention relates to bionic machine fish technical field, particularly relate to and a kind of there is the machine fish of independent chain tail support and the method that snorkels thereof.
Background technology
The development of machine fish embodies the exploitation pay attention to day by day of the mankind to marine resources, and the research of machine fish need in conjunction with bionics, machine design, material science, the multinomial subject such as control technology.Environmental area, military field, bio-science field embodies the bright prospects of machine fish research invariably, and it is since the nineties in last century, becomes the another study hotspot of robot field gradually.
Within 1994, Massachusetts Polytechnics have developed Article 1 machine fish RoboTuna in the world, and its long 1.2 meters, containing 40 root bones, 6 DC machine, whole body part reaches 2843, complex structure, within 3 years consuming time, has developed.Since then, domestic and international researchers have developed panoramic machine fish successively, in the travelling mode (BCF) of health-tail fin, the representative G Series machine fish also having Hu Huosheng team of ESSEX university, be up to now as the machine fish of fish, accurate processing technology and advanced control policy are that it successfully ensures; The ChristopherMarkWatts of Glasgow university have developed and affects two tendon ropes thus the machine fish of realization swing by a motor on the basis of the preceence of the imitative fish propulsion quality of research, includes 3 anti-water cavity body coverings and is wrapped up by glass fibre; The people such as Massachusetts Polytechnics BrendenP.Epps build the machine fish having made a whole body softness with the polymeric material that a monoblock is melted, avoid inner body by the possibility of water destruct; Institute of Automation Research of CAS Cao Zhi waits by force people to have developed a kind of two joint, the machine fish of the foot section brought carriage, and each carriage is cemented on tail fin framework; A kind of multi-joint machine fish that the Xie Guangming team of Peking University develops, fish body is long and narrow, and afterbody does not have carriage, and fish-skin rubber makes water pipe dress, keeps tail shape and adjust buoyancy by inflation.
Making successfully by health---tail fin drives in the machine fish material object of (BCF), smooth curve can be kept when travelling, and health can not be out of shape because of hydraulic pressure thus affect buoyancy under water, all embody complicated machine design, or the processing technology of high cost, or the material of advanced person, these all can improve time and the money cost of laboratory manufacturing machine fish, if the above requirement of out of reach, then can limit the authenticity that machine fish imitates fish to a certain extent, constraint laboratory advances the reliability of research to imitative fish.
Summary of the invention
For existing above problem, the object of the invention is physical construction and the material of using simple low cost as far as possible, a kind of compact conformation is provided, can be for convenience detach, swing the machine fish with independent chain tail support of form grace and the method that snorkels thereof.
For achieving the above object, technical scheme of the present invention is as follows:
The machine fish with independent chain tail support comprises head, intermediate support plate, afterbody, pectoral fin, tail fin, described head comprises left head capsule, right head capsule, trapezoidal dividing plate, pectoral fin steering wheel bearing, pectoral fin steering wheel, plane double rocker mechanism, pectoral fin axle, pectoral fin axle strut member, battery, circuit card, described afterbody comprises chain tail support, fish-skin, first joint, second joint, 3rd joint, first interlock dish, second interlock dish, steering wheel connecting element, tail fin presss from both sides, and described tail fin comprises tail fin sheet, tail fin plug-in unit, described pectoral fin comprises left pectoral fin sheet, right pectoral fin sheet, the one side of described intermediate support plate is provided with front annular boss, the another side of intermediate support plate is provided with rear annular boss, described left head capsule and right head capsule composition head shell, head shell is fixed on the outer ring surface of front annular boss, head shell inner hollow forms head cavity, trapezoidal dividing plate is located in the middle part of head cavity and head cavity is divided into upper and lower two parts, trapezoidal dividing plate one end is fixed in the one side of intermediate support plate, pectoral fin steering wheel bearing is fixed with below trapezoidal dividing plate, pectoral fin steering wheel bearing is fixed with pectoral fin steering wheel, the output shaft of pectoral fin steering wheel is connected with the drive crank of plane double rocker mechanism, the driven rocking bar of plane double rocker mechanism is connected with pectoral fin axle, pectoral fin axle strut member is fixed in the one side of intermediate support plate, pectoral fin axle strut member is provided with axis hole, pectoral fin axle is through axis hole, pectoral fin axle two ends pass left head capsule respectively, right head capsule, pectoral fin axle left end is connected with left pectoral fin sheet, and right-hand member is connected with right pectoral fin sheet, and trapezoidal dividing plate is fixed with battery, circuit card,
The first described joint, second joint, 3rd joint includes a steering engine seat, a steering wheel, a U-shaped attaching parts, steering wheel is fixed on steering engine seat, one of U-shaped attaching parts is connected with steering wheel, the other end of U-shaped attaching parts is connected with steering engine seat, the first interlock dish is provided with between first joint and second joint, the second interlock dish is provided with between second joint and the 3rd joint, the U-shaped attaching parts in the first joint, the steering engine seat of second joint is connected by the first interlock dish, the U-shaped attaching parts of second joint, the steering engine seat in the 3rd joint is connected by the second interlock dish, steering wheel connecting element is fixed on the another side of intermediate support plate, steering wheel connecting element is connected with the steering engine seat in the first joint, the U-shaped attaching parts in the 3rd joint presss from both sides with tail fin and is connected, tail fin folder is connected with tail fin plug-in unit, tail fin sheet is inserted on tail fin plug-in unit,
Described chain tail support is by the first support ring, and multiple midship mounting ring, last support ring composition, the first support ring is fixed on the outer ring surface of rear annular boss of intermediate support plate, and last support ring is the end of tail support, and each support ring is hinged between two.
The first described support ring is provided with towards the side of fish tail the laterally zygomorphic step surface stretched out, and step surface is provided with pin-and-hole; Each support ring in described midship mounting ring is provided with towards the side of fish head the laterally zygomorphic step surface stretched out, and step surface is provided with bearing pin, and the side towards fish tail is provided with the laterally zygomorphic step surface stretched out, and step surface is provided with pin-and-hole; Described last support ring is provided with towards the side of fish head the laterally zygomorphic step surface stretched out, and step surface is provided with bearing pin.
Described circuit card comprises microcontroller, communication module, memory module, microcontroller is connected with the steering wheel on pectoral fin steering wheel, the first joint, the steering wheel on second joint, the steering wheel on the 3rd joint respectively by PWM, microcontroller is connected by serial ports with communication module, realizes the communication with upper computer; Microcontroller is connected by SPI with memory module.
Described left head capsule, the material of right head capsule are nylon.
The first described support ring, midship mounting ring, the first interlock dish, the second interlock dish, last support ring are made by 3D printing technique, and material is PLA.
The material of described tail fin sheet, left pectoral fin sheet, right pectoral fin sheet is rubber.
The method of snorkeling with the machine fish of independent chain tail support is: microprocessor control pectoral fin steering wheel rotates, the output shaft of pectoral fin steering wheel drives the drive crank of plane double rocker mechanism, the passive rocking bar of plane double rocker mechanism drives pectoral fin axle to rotate, the rotation of pectoral fin axle changes the angle of attack of left pectoral fin sheet, right pectoral fin sheet, in travelling process, water is to left pectoral fin sheet, the direction of the antagonistic force of right pectoral fin sheet also can change, thus realizes the floating dive of machine fish.
The beneficial effect that the present invention has is: machine fish good looking appearance of the present invention is exquisite, vivid, and it is travelling and can keep rational form when turning; Application module structure of the present invention, is convenient to assembly and disassembly, and the replacing of parts; The present invention has one independently chain tail support, is skillfully constructed, with low cost, can dismantle separately, and the form that can well keep machine fish to move about under water; Tail fin sheet difficult drop-off of the present invention, and be easy to dismounting, replaceable different tail fin sheet, is convenient to laboratory and moves about to the machine fish with different caudal-fin models and tail fin hardness the research of efficiency.
Accompanying drawing explanation
Fig. 1 is the contour structures schematic diagram of the machine fish with independent chain tail support;
Fig. 2 is the schematic diagram of assembling completely of the machine fish with independent chain tail support;
Fig. 3 is the head cavity inner structure schematic diagram of the machine fish with independent chain tail support;
Fig. 4 is the tail structure schematic diagram of the machine fish with independent chain tail support;
Fig. 5 is the formal figure of the independent chain tail support of the machine fish with independent chain tail support;
Fig. 6 is the birds-eye view of the independent chain tail support of the machine fish with independent chain tail support;
Fig. 7 is the structural representation of the independent chain tail support of the machine fish with independent chain tail support;
Fig. 8 is the front elevation of the intermediate support plate of the machine fish with independent chain tail support;
Fig. 9 is the lateral plan of the intermediate support plate of the machine fish with independent chain tail support;
Figure 10 is the first supporting ring structure schematic diagram of the machine fish with independent chain tail support;
Figure 11 is the midship mounting ring structure schematic diagram of the machine fish with independent chain tail support;
Figure 12 is the last supporting ring structure schematic diagram of the machine fish with independent chain tail support;
In figure, intermediate support plate 1, left head capsule 2, right head capsule 3, trapezoidal dividing plate 4, pectoral fin steering wheel bearing 5, pectoral fin steering wheel 6, plane double rocker mechanism 7, pectoral fin axle 8, pectoral fin axle strut member 9, midship mounting ring 10, last support ring 11, fish-skin 12, the first interlock dish 13, second interlock dish 14, steering wheel connecting element 15, tail fin folder 16, tail fin sheet 17, tail fin plug-in unit 18, left pectoral fin sheet 19, right pectoral fin sheet 20, steering engine seat 21, steering wheel 22, U-shaped attaching parts 23, first support ring 24, battery 25, circuit card 26.
Detailed description of the invention
Below in conjunction with embodiment, the present invention is further described:
As shown in Figures 1 to 12, there is the machine fish of the independent tail support of good conformability, comprise head, intermediate support plate 1, afterbody, pectoral fin, tail fin, described head comprises left head capsule 2, right head capsule 3, trapezoidal dividing plate 4, pectoral fin steering wheel bearing 5, pectoral fin steering wheel 6, plane double rocker mechanism 7, pectoral fin axle 8, pectoral fin axle strut member 9, battery 25, circuit card 26, described afterbody comprises ring-type tail support, fish-skin 12, first joint, second joint, 3rd joint, first interlock dish 13, second interlock dish 14, steering wheel connecting element 15, tail fin folder 16, described tail fin comprises tail fin sheet 17, tail fin plug-in unit 18, described pectoral fin comprises left pectoral fin sheet 19, right pectoral fin sheet 20, the one side of described intermediate support plate 1 is provided with front annular boss, and the another side of intermediate support plate 1 is provided with rear annular boss, front, the anchor ring of rear annular boss is equipped with seal groove, and described left head capsule 2 and the outer edge place of right head capsule 3 are respectively equipped with counterbore, left head capsule 2, right head capsule 3 is compressed by 10 screws and pad and forms head shell, be arranged on the outer ring surface of front annular boss, seal with O type circle, head shell inner hollow forms head cavity, trapezoidal dividing plate 4 is located in the middle part of head cavity and head cavity is divided into upper and lower two parts, trapezoidal dividing plate 4 one end is fixed in the one side of intermediate support plate 1 by 4 screws, pectoral fin steering wheel bearing 5 is fixed on below trapezoidal dividing plate 4 by 2 screws, pectoral fin steering wheel 6 is fixed on pectoral fin steering wheel bearing 5 by 2 screws, the output shaft of pectoral fin steering wheel 6 inserts in the toothed opening of the drive crank of plane double rocker mechanism 7, one place of pectoral fin axle 8 has radial hole, the driven rocking bar end of plane double rocker mechanism 7 has axial hole, driven rocking bar is fixing by screw and the pectoral fin axle 8 along pectoral fin axle 8 radial direction, pectoral fin axle strut member 9 is fixed in the one side of intermediate support plate 1 by screw, left head capsule 2, the both sides of right head capsule 3 are respectively provided with bearing hole, and bearing hole is equipped with bearing, and pectoral fin axle is through the axis hole of pectoral fin axle strut member 9, and both sides pass left head capsule 2 respectively, right head capsule 3, by roller bearing end cap, O type circle, grease seal, left pectoral fin sheet 19, right pectoral fin sheet 20 is enclosed within the two ends of pectoral fin axle 8, and battery 25 is fixed on trapezoidal dividing plate 4 by adhesive tape, and circuit card 26 is propped up by four plastic columns and stays at above battery 25, and plastic column is fixed by screws on trapezoidal dividing plate 4,
The first described joint, second joint, 3rd joint includes a steering engine seat 21, a steering wheel 22, a U-shaped attaching parts 23, steering wheel 22 is fixed on steering engine seat 21, one of U-shaped attaching parts 23 is passed through steering wheel, screw, be connected with steering wheel 22 output shaft, steering wheel 22 output shaft is the active rotating shaft of U-shaped attaching parts 23, the other end of U-shaped attaching parts 23 has through hole, the bolt portion more smaller than through-hole diameter is screwed into steering engine seat 21, this screw is the passive rotating shaft of U-shaped attaching parts 23, the first interlock dish 13 is provided with between first joint and second joint, the second interlock dish 14 is provided with between second joint and the 3rd joint, the U-shaped attaching parts in the first joint, first interlock dish 13, the steering engine seat of second joint is connected by screw, the U-shaped attaching parts of second joint, second interlock dish 14, the steering engine seat in the 3rd joint is connected by screw, steering wheel connecting element 15 is fixed on the another side of intermediate support plate 1 by screw, the steering engine seat in the first joint is fixed on steering wheel connecting element 15 by screw, protection is compressed by adhesive tape, U-shaped attaching parts and the tail fin in the 3rd joint press from both sides 16 and are connected by screw, tail fin folder 16 is connected by screw with tail fin plug-in unit 18, tail fin sheet 17 is provided with jack, tail fin sheet 17 is inserted on tail fin plug-in unit 18,
The first described support ring 24 is provided with towards the side of fish tail the laterally zygomorphic step surface stretched out, and step surface is provided with pin-and-hole; Each support ring in described midship mounting ring 10 is provided with towards the side of fish head the laterally zygomorphic step surface stretched out, and step surface is provided with bearing pin, and the side towards fish tail is provided with the laterally zygomorphic step surface stretched out, and step surface is provided with pin-and-hole; Described last support ring 11 is provided with towards the side of fish head the laterally zygomorphic step surface stretched out, and step surface is provided with bearing pin.
Described circuit card comprises microcontroller, communication module, memory module, microcontroller is connected with the steering wheel on pectoral fin steering wheel, the first joint, the steering wheel on second joint, the steering wheel on the 3rd joint respectively by PWM, microcontroller is connected by serial ports with communication module, realizes the communication with upper computer; Microcontroller is connected by SPI with memory module, and preserve the necessary data of experimentation, battery is that circuit card is powered; Microcontroller uses 16 micro controller system MC9S12XS128 of Freescale, and communication module is made up of radio frequency chip NRF2401, and memory module uses Flash chip AT45DB321D.Pectoral fin steering wheel, steering wheel use Futaba steering wheel S9402 or S3102.
Described left head capsule 2, the material of right head capsule 3 can be nylon.
The first described support ring, midship mounting ring, the first interlock dish 13, second interlock dish 14, last support ring 11 are made by 3D printing technique, and material is PLA.
The material of described tail fin sheet 17, left pectoral fin sheet 19, right pectoral fin sheet 20 is rubber.
The method of snorkeling that the present invention has the machine fish of independent chain tail support is: microprocessor control pectoral fin steering wheel 6 rotates, the output shaft of pectoral fin steering wheel 6 drives the drive crank of plane double rocker mechanism 7, the passive rocking bar of plane double rocker mechanism 7 drives pectoral fin axle 8 to rotate, the rotation of pectoral fin axle 8 changes the angle of attack of left pectoral fin sheet 19, right pectoral fin sheet 20, in travelling process, the direction of water to the antagonistic force of left pectoral fin sheet 19, right pectoral fin sheet 20 also can change, thus realizes the floating dive of machine fish.
The travelling method that the present invention has the machine fish of independent chain tail support is: the steering wheel that microcontroller controls three joints respectively rotates, and by the curve of fish tail swing being become the bulk wave curve of fish swimming in theory, the advance realizing fish is moved about;
The turning method that the present invention has the machine fish of independent chain tail support is: on the basis that machine fish moves about forward, suitable offset angle is added to steering wheel, the symmetric line of fish tail swing curve is offset left, realize machine fish turnon left, the symmetric line of fish tail swing curve is offset to the right, realizes machine fish right-hand corner.
Claims (7)
1. there is a machine fish for independent chain tail support, comprise head, afterbody, pectoral fin, tail fin, characterized by further comprising intermediate support plate (1), and described head comprises left head capsule (2), right head capsule (3), trapezoidal dividing plate (4), pectoral fin steering wheel bearing (5), pectoral fin steering wheel (6), plane double rocker mechanism (7), pectoral fin axle (8), pectoral fin axle strut member (9), battery (25), circuit card (26), described afterbody comprises chain tail support, fish-skin (12), first joint, second joint, 3rd joint, first interlock dish (13), second interlock dish (14), steering wheel connecting element (15), tail fin folder (16), described tail fin comprises tail fin sheet (17), tail fin plug-in unit (18), described pectoral fin comprises left pectoral fin sheet (19), right pectoral fin sheet (20), the one side of described intermediate support plate (1) is provided with front annular boss, the another side of intermediate support plate (1) is provided with rear annular boss, described left head capsule (2) and right head capsule (3) composition head shell, head shell is fixed on the outer ring surface of front annular boss, head shell inner hollow forms head cavity, trapezoidal dividing plate (4) is located in the middle part of head cavity and head cavity is divided into upper and lower two parts, trapezoidal dividing plate (4) one end is fixed in the one side of intermediate support plate (1), trapezoidal dividing plate (4) below is fixed with pectoral fin steering wheel bearing (5), pectoral fin steering wheel bearing (5) is fixed with pectoral fin steering wheel (6), the output shaft of pectoral fin steering wheel (6) is connected with the drive crank of plane double rocker mechanism (7), the driven rocking bar of plane double rocker mechanism (7) is connected with pectoral fin axle (8), pectoral fin axle strut member (9) is fixed in the one side of intermediate support plate (1), pectoral fin axle strut member (9) is provided with axis hole, pectoral fin axle (8) is through axis hole, pectoral fin axle (8) two ends pass left head capsule (2) respectively, right head capsule (3), pectoral fin axle (8) left end is connected with left pectoral fin sheet (19), and right-hand member is connected with right pectoral fin sheet (20), trapezoidal dividing plate (4) is fixed with battery (25), circuit card (26),
The first described joint, second joint, 3rd joint includes a steering engine seat (21), a steering wheel (22), a U-shaped attaching parts (23), steering wheel (22) is fixed on steering engine seat (21), one of U-shaped attaching parts (23) is connected with steering wheel (22), the other end of U-shaped attaching parts (23) is connected with steering engine seat (21), the first interlock dish (13) is provided with between first joint and second joint, the second interlock dish (14) is provided with between second joint and the 3rd joint, the U-shaped attaching parts in the first joint, the steering engine seat of second joint is connected by the first interlock dish (13), the U-shaped attaching parts of second joint, the steering engine seat in the 3rd joint is connected by the second interlock dish (14), steering wheel connecting element (15) is fixed on the another side of intermediate support plate (1), steering wheel connecting element (15) is connected with the steering engine seat in the first joint, the U-shaped attaching parts in the 3rd joint presss from both sides (16) and is connected with tail fin, tail fin folder (16) is connected with tail fin plug-in unit (18), tail fin sheet (17) is inserted on tail fin plug-in unit (18),
Described chain tail support is by the first support ring (24), multiple midship mounting ring (10), last support ring (11) forms, first support ring (24) is fixed on the outer ring surface of the rear annular boss of intermediate support plate (1), the end that last support ring (11) is tail support, each support ring is hinged between two.
2. the machine fish with independent chain tail support according to claim 1, it is characterized in that described the first support ring (24) is provided with towards the side of fish tail the laterally zygomorphic step surface stretched out, step surface is provided with pin-and-hole; Each support ring in described midship mounting ring (10) is provided with towards the side of fish head the laterally zygomorphic step surface stretched out, and step surface is provided with bearing pin, and the side towards fish tail is provided with the laterally zygomorphic step surface stretched out, and step surface is provided with pin-and-hole; Described last support ring (11) is provided with towards the side of fish head the laterally zygomorphic step surface stretched out, and step surface is provided with bearing pin.
3. the machine fish with independent chain tail support according to claim 1, it is characterized in that described circuit card (26) comprises microcontroller, communication module, memory module, microcontroller is connected with the steering wheel on pectoral fin steering wheel (6), the first joint, the steering wheel on second joint, the steering wheel on the 3rd joint respectively by PWM, microcontroller is connected by serial ports with communication module, realizes the communication with upper computer; Microcontroller is connected by SPI with memory module.
4. the machine fish with independent chain tail support according to claim 1, is characterized in that described left head capsule (2), the material of right head capsule (3) is nylon.
5. the machine fish with independent chain tail support according to claim 1, it is characterized in that described the first support ring (24), midship mounting ring (10), the first interlock dish (13), the second interlock dish (14), last support ring (11) are made by 3D printing technique, material is PLA.
6. the machine fish with independent chain tail support according to claim 1, is characterized in that the material of described tail fin sheet (17), left pectoral fin sheet (19), right pectoral fin sheet (20) is rubber.
7. the method that snorkels of a machine fish as claimed in claim 1, it is characterized in that: microprocessor control pectoral fin steering wheel (6) rotates, the output shaft of pectoral fin steering wheel (6) drives the drive crank of plane double rocker mechanism (7), the passive rocking bar of plane double rocker mechanism (7) drives pectoral fin axle (8) to rotate, the rotation of pectoral fin axle (8) changes the angle of attack of left pectoral fin sheet (19), right pectoral fin sheet (20), in travelling process, water is to left pectoral fin sheet (19), the direction of the antagonistic force of right pectoral fin sheet (20) also can change, thus realizes the floating dive of machine fish.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201410088557.5A CN103879535B (en) | 2014-03-12 | 2014-03-12 | There is the machine fish of independent chain tail support and the method that snorkels thereof |
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| CN201410088557.5A CN103879535B (en) | 2014-03-12 | 2014-03-12 | There is the machine fish of independent chain tail support and the method that snorkels thereof |
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| CN103879535B true CN103879535B (en) | 2016-04-06 |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105059511B (en) * | 2015-07-28 | 2018-02-23 | 中国科学院自动化研究所（洛阳）机器人与智能装备创新研究院 | A kind of underwater highly emulated device fish |
| CN106081034A (en) * | 2016-06-28 | 2016-11-09 | 河北工业大学 | A kind of bionic machine fish afterbody actuating device |
| CN106828848B (en) * | 2017-02-06 | 2018-07-24 | 厦门大学 | The skeleton more strings of one kind affecting underwater fish |
| CN109050851B (en) * | 2018-08-22 | 2024-02-27 | 重庆三峡学院 | Line-driven robot fish |
| CN112693570A (en) * | 2021-01-08 | 2021-04-23 | 河海大学 | Water surface garbage cleaning robot fish based on motion of auxiliary tail fin of pectoral fin |
| CN113636048B (en) * | 2021-08-19 | 2023-03-31 | 武汉工程大学 | Multi-joint robot fish and motion control method thereof |
| CN114771785B (en) * | 2022-04-30 | 2024-02-27 | 深圳大学 | Underwater bionic fish |
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| CN101654147A (en) * | 2009-09-24 | 2010-02-24 | 北京航空航天大学 | Pectoral fin push-type robotic fish of simulated cow-nosed ray |
| CN101913419A (en) * | 2010-08-11 | 2010-12-15 | 中国科学院自动化研究所 | Biomimetic robotic dolphin |
| CN102632984A (en) * | 2012-04-20 | 2012-08-15 | 合肥凌翔信息科技有限公司 | Multifunctional biomimetic robotic fish |
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| CN103879535A (en) | 2014-06-25 |
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